Hybrid Control Design for a Wheeled Mobile Robot

Thomas Bak, Jan Dimon Bendtsen, Anders Peter Ravn

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskning

11 Citationer (Scopus)

Resumé

We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points. The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments.
OriginalsprogEngelsk
TitelHybrid Systems: Computation and Control, HSCC 2003 : Lecture Notes in Computer Science
RedaktørerOded Maler, Amir Pnueli (eds.)
ForlagSpringer
Publikationsdato2003
Udgave2623
Sider50-65
StatusUdgivet - 2003
BegivenhedHybrid Control Design for a Wheeled Mobile Robot -
Varighed: 19 maj 2010 → …

Konference

KonferenceHybrid Control Design for a Wheeled Mobile Robot
Periode19/05/2010 → …

Fingerprint

Mobile robots
Wheels
Trajectories
Feedback linearization
Hybrid systems
Feedback control
Dynamical systems
Robots

Bibliografisk note

ISSN ; -

Citer dette

Bak, T., Bendtsen, J. D., & Ravn, A. P. (2003). Hybrid Control Design for a Wheeled Mobile Robot. I Oded Maler, Amir Pnueli (eds.) (red.), Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science (2623 udg., s. 50-65). Springer.
Bak, Thomas ; Bendtsen, Jan Dimon ; Ravn, Anders Peter. / Hybrid Control Design for a Wheeled Mobile Robot. Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science. red. / Oded Maler, Amir Pnueli (eds.). 2623. udg. Springer, 2003. s. 50-65
@inproceedings{9109ff5041f711dabae6000ea68e967b,
title = "Hybrid Control Design for a Wheeled Mobile Robot",
abstract = "We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points. The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments.",
author = "Thomas Bak and Bendtsen, {Jan Dimon} and Ravn, {Anders Peter}",
note = "ISSN ; -",
year = "2003",
language = "English",
pages = "50--65",
editor = "{Oded Maler, Amir Pnueli (eds.)}",
booktitle = "Hybrid Systems: Computation and Control, HSCC 2003",
publisher = "Springer",
address = "Germany",
edition = "2623",

}

Bak, T, Bendtsen, JD & Ravn, AP 2003, Hybrid Control Design for a Wheeled Mobile Robot. i Oded Maler, Amir Pnueli (eds.) (red.), Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science. 2623 udg, Springer, s. 50-65, Hybrid Control Design for a Wheeled Mobile Robot, 19/05/2010.

Hybrid Control Design for a Wheeled Mobile Robot. / Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter.

Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science. red. / Oded Maler, Amir Pnueli (eds.). 2623. udg. Springer, 2003. s. 50-65.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskning

TY - GEN

T1 - Hybrid Control Design for a Wheeled Mobile Robot

AU - Bak, Thomas

AU - Bendtsen, Jan Dimon

AU - Ravn, Anders Peter

N1 - ISSN ; -

PY - 2003

Y1 - 2003

N2 - We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points. The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments.

AB - We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points. The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments.

M3 - Article in proceeding

SP - 50

EP - 65

BT - Hybrid Systems: Computation and Control, HSCC 2003

A2 - Oded Maler, Amir Pnueli (eds.), null

PB - Springer

ER -

Bak T, Bendtsen JD, Ravn AP. Hybrid Control Design for a Wheeled Mobile Robot. I Oded Maler, Amir Pnueli (eds.), red., Hybrid Systems: Computation and Control, HSCC 2003: Lecture Notes in Computer Science. 2623 udg. Springer. 2003. s. 50-65